Patent AU-2015331287-B2 (AU)
Title: Construction machine control system, a construction machine, a construction machine management system, and a construction machine control method and program
Inventor: SAKAI ATSUSHI
IPC: G01S13/86
Filed: 2015-10-30
Granted: 2017-09-21
Abstract: (12) Si tIIIII$I I I *IMI I V II-II DIIDIM II tII W- III II (10) 0 h (43) M >8 W N 2016 * 4 f 21 H(21.04.2016) WO 2016/060281 Al WIPO I PCT (51) MR$$F30: - 1 Tt t*/J\i&tF P I C T J aV GOS 13/86 (2006.01) GOS 17/89 (2006.01) 1' t Kanagawa (JP). G01C 21/26 (2006.01) G01S 17/93 (2006.01) (74) It I GOS 13/89 (2006.01) GOS 19/45 (2010.01) (SAKAI INTERNATIONAL PATENT OFFICE); T GO1S 13/93 (2006.01) G08G 1/00 (2006.01) 1000013 M f1It3T 8 1 (21) MtJ95- : PCT/JP2015/080864 trf)lt= E)|7L4 >/; Tokyo (JP). (22) M W tJ RE: 2015 PT 10 fi 30 8 (30.10.2015) (81) t15 Z (A7,0 L \ BR L , A T ) fg 1 0) (25) t*= 5-1 PT ii f ' ): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, (26) M [P, ) 3M: 1 t3 CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, Fl, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, (71) t M A :_ t K A± $ ' /JI 2% 4'F t (KOMATSU LTD.) IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, [JP/JP]; T 1078414 FX& t 2 - 3 - 6 LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, Tokyo (JP). MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, (72) 5BAt: thtft M(SAKAI, Atsushi); T 2548555 $$ PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, Jl@kfJif±a$2R2 3 - 2 5 - 1 t~t *±/Jr*2 SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, IQ PRf I C T ') ') a - 49 / Kanagawa UG, US, UZ, VC, VN, ZA, ZM, ZW. (JP). M fill A M(RYUMAN, Mitsuhiro); T 2548555 (84) $5ZM (A Ot xR L \ , ± Ct 0}) tQ ij *$$ll I I $ 3 - 2 5 - 1 *Tt* i t 5 f J R): ARIPO (BW, GH, GM, KE, LR, LS, MW, \J $i,% 1 Pf I CT')') a-y9' $ _ MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), .-L Kanagawa (JP). -A ${f (TOJIMA, Masanori); T 5 s- 7 (AM, AZ, BY, KG, KZ, RU, TJ, TM), E 2548555 - 1W Ri ;L Z 3 - 2 5 - 1 M / iV (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, A *'Jr*%ft ft I CT')') a-v >' ES, Fl, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, 115 i Kanagawa (JP). I .fr (NISHIJIMA, Aki- MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), haru); T2548555 $ 3 - 2 5 (54) Title: CONTROL SYSTEM FOR WORK MACHINE, WORK MACHINE, MANAGEMENT SYSTEM FOR WORK MA CHINE, AND CONTROL METHOD AND PROGRAM FOR WORK MACHINE 2 (57) Abstract: A control system 30 for a work machine is i provided with: a GPS receiver 31 that uses GPS to detect the 31B 31A 30 26 GPS position of a dump truck; a determination unit that de 34A termines whether the error in the detected GPS position ex ceeds a prescribed error; a laser sensor 24B that detects the 3 0 positions of objects in the vicinity of the dump truck; and a - f+ i database 36 for map storage, in which, if the determination 3- 5 34- O-5 |an-5 unit determines that the error in the GPS position of the 32 dump truck detected by the GPS receiver 31 does not exceed the prescribed error, a detection result regarding an upward 24A- protrusion that protrudes upward is extracted from the detec 24 24B tion results of the laser sensor 24B, and the extracted detec tion result regarding the upward protrusion is stored as map information. 23(3F)2S 2E 2(3R (57) f $tJ: AA 0A(O 0l fig T ii3 Oft , G 23(23F)23(23M S7@ G P S R 1A P 3 1 L , hL f: G P S $ 2E Engine 2C Generator - 2S Steering device S R I 5 ' 1 h G P 20 Travel controller = - t . t #Ui2 26 Gyro sensor AZ_)M fZ )M 14TT2V 6L1 Z'5 27 Velocity sensor _+f ./- 2 4 B 0 $ 33 Position measurement controller M _ - -± z 5F L tz -- 7 - t5J, i* I z * 40 Safety controller U- , -L t f L _ tzt - /2Fj [ I oC -t't fl v1-A 3 6TL'Jr-XA6t, 6 W O 2 0 16 /0 6 0 2 8 1 A 1|l II |III ||1III llI ||I|1I |||I||||1 ||11 ||||1 ||1||11 |||||||||||||||||||||||I| OAPI (BF, BJ, CF, CG, CJ, CM, GA, GN, GQ, GW, KM, __ * ML, MR, NE, SN, TD, TG). F3P1 EH0 E0 AP ~ 1TbL 48.2(h)) - $Ik*$ (&21 (3)) - AE t ®)15I3 < 2 1 *(2)(a)IZc 7LA)